/*
* Copyright (c) 2006-2007 Erin Catto http:
*
* This software is provided 'as-is', without any express or implied
* warranty.  In no event will the authors be held liable for any damages
* arising from the use of this software.
* Permission is granted to anyone to use this software for any purpose,
* including commercial applications, and to alter it and redistribute it
* freely, subject to the following restrictions:
* 1. The origin of this software must not be misrepresented; you must not
* claim that you wrote the original software. If you use this software
* in a product, an acknowledgment in the product documentation would be
* appreciated but is not required.
* 2. Altered source versions must be plainly marked, and must not be
* misrepresented the original software.
* 3. This notice may not be removed or altered from any source distribution.
*/
// var b2Jacobian = Class.create();
// b2Jacobian.prototype = 
import b2Vec2 from "../../common/math/b2Vec2";
export default class b2Jacobian {
    constructor() {
        this.linear1 = null;
        this.angular1 = 0;
        this.linear2 = null;
        this.angular2 = 0;
        // initialize instance variables for references
        this.linear1 = new b2Vec2();
        this.linear2 = new b2Vec2();
    }
    SetZero() {
        this.linear1.SetZero();
        this.angular1 = 0.0;
        this.linear2.SetZero();
        this.angular2 = 0.0;
    }
    Set(x1, a1, x2, a2) {
        this.linear1.SetV(x1);
        this.angular1 = a1;
        this.linear2.SetV(x2);
        this.angular2 = a2;
    }
    Compute(x1, a1, x2, a2) {
        //return b2Math.b2Dot(this.linear1, x1) + this.angular1 * a1 + b2Math.b2Dot(this.linear2, x2) + this.angular2 * a2;
        return (this.linear1.x * x1.x + this.linear1.y * x1.y) + this.angular1 * a1 + (this.linear2.x * x2.x + this.linear2.y * x2.y) + this.angular2 * a2;
    }
}
